NagaokaRoboticsClub_mbedTeam / Mbed OS omni_sample

sample 4 library

Dependencies:   omni

Files at this revision

API Documentation at this revision

Revision 1:ec737bc00987, committed 2017-08-23

Comitter:
UCHITAKE
Date:
Wed Aug 23 07:25:12 2017 +0000
Parent:
0:6c83a0871cc3
Commit message:
update

Changed in this revision

MotorDriverController.lib Show diff for this revision Revisions of this file
main.cpp Show annotated file Show diff for this revision Revisions of this file
mbed-os.lib Show annotated file Show diff for this revision Revisions of this file
omni.lib Show annotated file Show diff for this revision Revisions of this file
pin_config.h Show diff for this revision Revisions of this file 
--- a/MotorDriverController.lib	Mon Jul 03 14:24:30 2017 +0000
+++ /dev/null	Thu Jan 01 00:00:00 1970 +0000
@@ -1,1 +0,0 @@
-https://developer.mbed.org/teams/NHK-Robocon2016_Nagaoka_B_Team/code/MotorDriverController/#caf0cea235b2

--- a/main.cpp	Mon Jul 03 14:24:30 2017 +0000
+++ b/main.cpp	Wed Aug 23 07:25:12 2017 +0000
@@ -1,22 +1,18 @@
 #include "mbed.h"
 #include "omni.h"
-#include "MotorDriverController.h"
-#include "pin_config.h"
 
-MDC motor(i2c_sda, i2c_scl);
-Omni omni(4, 45);
+Omni omni(4);
+Serial pc(USBTX, USBRX);
 
-int main()
-{
-    double polarVector[2];
+int main() {
+    omni.setWheelRadian(M_PI / 3.0 * 1, M_PI / 3.0 * 2, M_PI / 3.0 * 4, M_PI / 3.0 * 5);
+    
     while(1) {
-        for(int i = 0; i < 360; i++) {
-            polarVector[0] = i;
-            polarVector[1] = 1.0;
-            omni.computePolar(polarVector, 0);
-            for(int j = 0; j < 4; j++) {
-                motor.write(7, j, omni.getOutput(j));
-            }
+        omni.computeXY(0.0, 1.0, 0);
+        
+        for(int i = 0; i < 4; i++) {
+            pc.printf("%d: %.4f, ", i, omni.getOutput(i));
         }
+        pc.printf("\n\r");
     }
 }

--- a/mbed-os.lib	Mon Jul 03 14:24:30 2017 +0000
+++ b/mbed-os.lib	Wed Aug 23 07:25:12 2017 +0000
@@ -1,1 +1,1 @@
-https://github.com/ARMmbed/mbed-os/#c9e63f14085f5751ff5ead79a7c0382d50a813a2
+https://github.com/ARMmbed/mbed-os/#8828635da469162cf2854b5287561c663fb96e72

--- a/omni.lib	Mon Jul 03 14:24:30 2017 +0000
+++ b/omni.lib	Wed Aug 23 07:25:12 2017 +0000
@@ -1,1 +1,1 @@
-https://developer.mbed.org/teams/NHK-Robocon2016_Nagaoka_B_Team/code/omni/#979565e955a5
+https://developer.mbed.org/teams/NHK-Robocon2016_Nagaoka_B_Team/code/omni/#a30169882a15

--- a/pin_config.h	Mon Jul 03 14:24:30 2017 +0000
+++ /dev/null	Thu Jan 01 00:00:00 1970 +0000
@@ -1,7 +0,0 @@
-#ifndef pin_config
-#define pin_config
-
-static PinName const i2c_sda = PB_9;
-static PinName const i2c_scl = PB_8;
-
-#endif